System for vehicle body roll control utilizing steering angle detection

• US 4,693,493 A
• Filed: 10/21/1986
• Issued: 09/15/1987
• Est. Priority Date: 10/22/1985
• Status: Expired due to Fees

• Current Assignee: Toyota Central Research and Development Laboratories Incorporated 41-1 Azayokomichi, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Central Research and Development Laboratories, Inc., Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Hayashi, Yasutaka, Ikemoto, Hiroyuki, Doi, Shunichi, Oowa, Nobutaka
• Primary Examiner(s): Love, John J.
• Assistant Examiner(s): Rice, Kenneth R.
• Application Number:
  US06/921,251
• Time in Patent Office: 329 Days
• Field of Search: 280/772, 280/689, 280/707, 280/6 R, 280/DIG. 1
• US Class Current: 280/5.51
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/0432 by varying the number of accumulators connected to the hydraulic cylinder B60G17/0424 takes precedence
• CPC Class Codes: B60G 2202/154 with an accumulator
• CPC Class Codes: B60G 2202/413 Hydraulic actuator
• CPC Class Codes: B60G 2202/414 using electrohydraulic valves
• CPC Class Codes: B60G 2202/42 Electric actuator
• CPC Class Codes: B60G 2204/80 Interactive suspensions; arrangement affecting more than one suspension unit
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/33 Throttle position
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/44 Steering speed
• CPC Class Codes: B60G 2500/102 stepwise
• CPC Class Codes: B60G 2500/22 Spring constant
• CPC Class Codes: B60G 2500/30 Height or ground clearance
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2600/04 Means for informing, instructing or displaying
• CPC Class Codes: B60G 2600/182 Active control means
• CPC Class Codes: B60G 2600/184 Semi-Active control means
• CPC Class Codes: B60G 2600/26 : Electromagnets; Solenoids
• CPC Class Codes: B60G 2600/70 : Computer memory; Data storage, e.g. maps for adaptive control
• CPC Class Codes: B60G 2600/82 : duty rate function
• CPC Class Codes: B60G 2800/012 : Rolling condition
• CPC Class Codes: B60G 2800/24 : Steering, cornering

Abstract

In this system for vehicle roll control, a plurality of actuator assemblies are provided, one corresponding to each one of the vehicle wheels and resiliently suspending it from the vehicle body. These actuator assemblies have pressure chambers, and each is adapted to increase or decrease the vehicle height at a location corresponding to its corresponding vehicle wheel as respective results of supplying or discharging of working fluid to or from its pressure chamber. A plurality of working fluid supplying and discharging valves are provided corresponding to the actuator assemblies and serve to supply working fluid to the working fluid chambers and to discharge working fluid from the working fluid chambers. A vehicle speed detector senses the road speed of the vehicle, and a steering angle detector senses the steering angle of the vehicle. A control computer computes a steady state roll angle φ.sub.∞ of the vehicle body from the vehicle speed sensed by the vehicle speed detector and the steering angle sensed by the steering angle detector, and computes a difference value φ based thereon, the control computer being adapted to control the working fluid supplying and discharging valves according to the difference value φ when the absolute value of the difference value φ is larger than a determinate value.

Claims

1. For a vehicle comprising a body and a plurality of wheels upon which it runs, a vehicle roll control system of vehicle height adjustment type, comprising:

a plurality of actuator assemblies, one provided corresponding to each one of said vehicle wheels and resiliently suspending said one of said vehicle wheels from the vehicle body, said actuator assemblies comprising pressure chambers and each being adapted to increase or decrease vehicle height at a location corresponding to its corresponding vehicle wheel as respective results of supplying or discharging of working fluid to or from its said pressure chamber;

a plurality of working fluid supplying and discharing means which are provided corresponding to said actuator assemblies and which serve to supply working fluid to said working fluid chambers and to discharge working fluid from said working fluid chambers;

a vehicle speed detecting means for sensing the road speed of the vehicle;

a steering angle detecting means for sensing the steering angle of the vehicle; and

;

a means for computing and control, which computes a steady state roll angle φ

.sub.∞

of the vehicle body from the vehicle speed sensed by said vehicle speed detecting means and the steering angle sensed by said steering angle detecting means, and computes a difference value φ

based thereon, said computing control means being adapted to control said working fluid supplying and discharging means according to said difference value φ

when the absolute value of said difference value φ

is larger than a determined value.

2. A system for vehicle roll control according to claim 1, further comprising a means for determining the rate of change of said steering angle, wherein said computing and control means computes said difference value φ

as being the difference between said steady state roll angle φ

.sub.∞

of the vehicle body and a desired roll angle φ

_a.

3. A system for vehicle roll control according to claim 2, wherein said computing and control means is adapted not to perform such control according to said difference value φ

when the signs of said steering angle and of said rate of change in steering angle are different from each other.

4. A system for vehicle roll control according to claim 2, wherein said means for determining a rate of change in steering angle is a combination of said steering angle detecting means and said computing and control means, and said computing and control means is adapted to compute said rate of change in steering angle by subtracting from the steering angle sensed by said steering angle detecting means the steering angle sensed at a time point a determinate short time period previously.

5. A system for vehicle roll control according to claim 2, wherein said rate of change in steering angle is steering angular velocity, and said means for determining said rate of change in steering angle is a means for sensing steering angular velocity.

6. A system for vehicle roll control according to claim 2, wherein said desired roll angle φ

_a is zero.

7. A system for vehicle roll control according to claim 2, wherein said computing control means comprises a memory means, and said memory means stores a relationship between vehicle speeds, steering angles, and steady state roll angles.

8. A system for vehicle roll control according to claim 1, wherein said computing and control means advances the phase of a signal indicative of said steady state roll angle φ

.sub.∞

to thereby compute a compensating value Φ

.sub.∞

of roll angle, and then computes said difference value φ

as being the difference between a desired roll angle φ

_a of the vehicle body and said compensating value Φ

.sub.∞

of roll angle.

9. A system for vehicle roll control according to claim 8, wherein said desired roll angle φ

_a is zero.

10. A system for vehicle roll control according to claim 8, wherein computing control means comprises a memory means, and said memory means stores the relationship between vehicle speeds, steering angles, and steady state roll angles.

11. A system for vehicle roll control according to claim 1, further comprising a means for determining the actual roll angle φ

_t of said vehicle body, wherein said computing and control means advances the phase of a signal indicative of said steady state roll angle φ

.sub.∞

to thereby compute a compensating value Φ

.sub.∞

of roll angle, and then computes said difference value φ

, based upon a desired roll angle φ

_a of the vehicle body, said compensating value Φ

.sub.∞

, and said actual roll angle φ

_t, according to the equation;

space="preserve" listing-type="equation">φ

=φ

.sub.a -(k.sub.1 Φ

.sub.∞

+k.sub.2 φ

.sub.t)

where k₁ and k₂ are positive constants.

12. A system for vehicle roll control according to claim 11, wherein said desired roll angle φ

_a is zero.

13. A system for vehicle roll control according to claim 11, wherein said computing control means comprises a memory means, and said memory means stores the relationship between vehicle speeds, steering angles, and steady state roll angles.

14. A system for vehicle roll control according to claim 11, wherein said means for sensing the actual roll angle of said vehicle body is a plurality of vehicle height detecting means for sensing the vehicle height at locations corresponding to the vehicle wheels, and said computing control means is adapted to compute both a roll angle φ

_f of said vehicle body with respect to the front vehicle wheels and also a roll angle φ

_r or said vehicle body with respect to the rear vehicle wheels from vehicle height differences between the left and the right sides of said vehicle body based upon the vehicle heights sensed by said vehicle height detecting means and the distances between the left and the right vehicle wheels and to compute as an actual roll angle φ

_f the average of the two roll angles φ

_t and φ

_r.

15. For a vehicle comprising a body and a plurality of wheels upon which it runs, a vehicle roll control system of vehicle height adjustment type, comprising:

a plurality of actuator assemblies, one provided corresponding to each one of said vehicle wheels and resiliently suspending said one of said vehicle wheels from the vehicle body, said actuator assemblies comprising pressure chambers and each being adapted to increase or decrease vehicle height at a location corresponding to its corresponding vehicle wheel as respective results of supplying or discharging of working fluid to or from its said pressure chamber;

a plurality of working fluid supplying and discharging means which are provided corresponding to said actuator assemblies and which serve to supply working fluid to said working fluid chambers and to discharge working fluid from said working fluid chambers;

a plurality of vehicle height detection means which are provided corresponding to said vehicle wheels and which serve for sensing parameters representative of the heights Hi of the vehicle body over said vehicle wheels;

a vehicle speed detecting means for sensing the road speed of the vehicle;

a steering angle detecting means for sensing the steering angle of the vehicle; and

;

a means for computing and control, which computes the differences Δ

Hi between said vehicle heights Hi as sensed by said vehicle height detection means and reference vehicle heights, computes a steady state roll angle φ

.sub.∞

of the vehicle body from the vehicle speed sensed by said vehicle speed detecting means and the steering angle sensed by said steering angle detecting means, and computes a difference value φ

based thereon, said computing control means being adapted to control said working fluid supplying and discharging means according to said difference value φ

when the absolute value of said difference value φ

is larger than a determinate value φ

_o, and to control said working fluid supplying and discharging means according to according to said vehicle height differences Hi so as to thereby adjust the absolute values of said vehicle height differences to be not more than a determinate value Δ

Ho, when the absolute value of said difference value φ

is not larger than said determinate value φ

_o.

16. A system for vehicle roll control according to claim 15, further comprising a means for determining the rate of change of said steering angle, wherein said computing and control means computes said difference value φ

as being the difference between said steady state roll angle φ

.sub.∞

of the vehicle body and a desired roll angle φ

_a.

17. A system for vehicle roll control according to claim 16, wherein said computing control means is adapted not to perform the control according to said difference value φ

when the signs of said steering angle and of said rate of change in steering angle are different from each other.

18. A system for vehicle roll control according to claim 16, wherein said means for determining a rate of change in steering angle is a combination of said steering angle detecting means and said computing control means, and said computing control means is adapted to compute a rate of change in steering angle by subtracting from the steering angle sensed by said steering angle detecting means the steering angle sensed at a time point a determinate short time period previously.

19. A system for vehicle roll control according to claim 16, wherein said rate of change in steering angle is steering angular velocity, and said means for determining the rate of change of steering angle is a means for sensing steering angular velocity.

20. A system for vehicle roll control according to claim 16, wherein said desired roll angle φ

_a is zero.

21. A system for vehicle roll control according to claim 20, wherein said determinate value Δ

Ho for said vehicle height difference Δ

Hi is not substantially larger than the absolute value of said vehicle height difference Δ

Hi at the time when the absolute value of said roll angle difference φ

is substantially equal to said determinate value φ

_o.

22. A system for vehicle roll control according to claim 16, characterized in that said computing control means comprises a memory means, and said memory means stores the relationship between vehicle speeds, steering angles, and steady state roll angles.

23. A system for vehicle roll control according to claim 15, wherein said computing and control means advances the phase of a signal indicative of said steady state roll angle φ

.sub.∞

to thereby compute a compensating value Φ

.sub.∞

of roll angle, and then computes said difference value φ

as being the difference between a desired roll angle φ

_a of the vehicle body and said compensating value Φ

.sub.∞

of roll angle.

24. A system for vehicle roll control according to claim 23, wherein said desired roll angle φ

_a is zero.

25. A system for vehicle roll control according to claim 23, wherein said computing control means comprises a memory means, and said memory means stores the relationship between vehicle speeds, steering angles, and steady state roll angles.

26. A system for vehicle roll control according to claim 23, wherein said determinate value Δ

Ho for said vehicle height difference Δ

Hi is not substantially larger than the absolute value of said vehicle height difference Δ

Hi at the time when the absolute value of said roll angle difference φ

is substantially equal to said determinate value φ

_o.

27. A system for vehicle roll control according to claim 15, further comprising a means for determining the actual roll angle φ

_t of said vehicle body, wherein said computing and control means advances the phase of a signal indicative of said steady state roll angle φ

.sub.∞

to thereby compute a compensating value Φ

.sub.∞

of roll angle, and then computes said difference value φ

, based upon a desired roll angle φ

_a of the vehicle body, said compensating value Φ

.sub.∞

, and said actual roll angle φ

_t, according to the equation;

space="preserve" listing-type="equation">φ

=φ

.sub.a -(k.sub.1 Φ

.sub.∞

+k.sub.2 φ

.sub.t)

where k₁ and k₂ are positive constants.

28. A system for vehicle roll control according to claim 27, wherein said desired roll angle φ

_a is zero.

29. A system for vehicle roll control according to claim 27, wherein said computing control means comprises a memory means, and said memory means stores the relationship between vehicle speeds, steering angles, and steady state roll angles.

30. A system for vehicle roll control according to claim 27, wherein said means for sensing an actual roll angle of said vehicle body is a plurality of vehicle height detecting means for sensing a vehicle height at locations corresponding to the associated vehicle wheels, and said computing control means is adapted to compute both a roll angle φ

_t of said vehicle body with respect to the front vehicle wheels and also a roll angle φ

_r of said vehicle body with respect to the rear vehicle wheels from vehicle height differences between the left and the right sides of said vehicle body based upon the vehicle heights sensed by said vehicle height detecting means and the distances between the left and the right vehicle wheels, and to compute as an actual roll angle φ

_t the average of the two roll angles φ

_t and φ

_r.

31. A system for vehicle roll control according to claim 27, wherein said determinate value Δ

Ho for said vehicle height difference Δ

Hi is not substantially larger than the absolute value of said vehicle height difference Δ

Hi at the time when the absolute value of said roll angle difference φ

is substantially equal to said determinate value φ

_o.